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1. 发明公开

EP3418836A1 WORK REGION ESTIMATION DEVICE, CONTROL DEVICE, CONTROL SYSTEM, WORK REGION ESTIMATION METHOD, AND PROGRAM 有权
公开(公告)号：EP3418836A1
公开(公告)日：2018-12-26
申请号：EP17752832.0
申请日：2017-01-10
申请人： Omron Corporation
发明人： NAITO Sayaka , MORI Yoshikazu , KASAI Kazuki , NISHIZAKI Osamu
IPC分类号： G05B19/418 , B23P21/00 , B62D65/18
CPC分类号： G05B19/4061 , B25J9/1676 , G05B2219/39082 , G05B2219/40339 , G05B2219/49143 , G05B2219/50193
摘要： This work region estimation device, which estimates a region in which a worker performs work, is provided with an orientation acquisition unit that acquires worker orientation information, and a work region calculation unit that, on the basis of the orientation information and a worker body model, calculates a region in which a worker operation is forecast.

2. 发明公开

EP3373231A1 OPERATING INDUSTRIAL PLANT MACHINES PREVENTING COLLISIONS 审中-公开
公开(公告)号：EP3373231A1
公开(公告)日：2018-09-12
申请号：EP17159640.6
申请日：2017-03-07
申请人： Siemens Aktiengesellschaft
发明人： BORRIELLO, Diego
IPC分类号： G06Q50/00
CPC分类号： G05B19/4188 , G05B19/41865 , G05B2219/31001 , G05B2219/40339 , G06Q50/00
摘要： Method for operating the machinery of a plant comprising various machines (A, B) the method comprising:
providing software-readable information relative to working areas (21, 22, 23, 11, 12, 13) each relating to at least an operation of one of said machines;
operating at least part of said machines by a MES or MOM software reading said information so as to avoid operations with overlapping working areas (12, 23) are performed at a same time. A software capable of performing the method is also disclosed.

3. 发明公开

EP2523786A1 METHOD OF FINDING FEASIBLE JOINT TRAJECTORIES FOR AN N-DOF ROBOT WITH ROTATION INVARIANT PROCESS (N>5) 有权
标题翻译：一种用于找到实际关节运动路径用于N DOF机器人Rotationsinvariantenprozess方法（N> 5）
公开(公告)号：EP2523786A1
公开(公告)日：2012-11-21
申请号：EP11700035.6
申请日：2011-01-07
申请人： Syddansk Universitet
发明人： GORDON PETERSEN, Henrik , CORTSEN, Jens , SOELVASON, Dorthe
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1607 , G05B2219/39081 , G05B2219/40336 , G05B2219/40339 , G05B2219/40363
摘要： There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths q
Robot (t) using IK (t) and q
Tool (t) as set of possible solutions at time t, wherein q
Robot (t) defines positions of all the joints in the robot as function of time, q
Tool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and q
Tool (t); and determining, from the geometric data and X(t), how the joint path q
Robot (t) should be chosen so as to comply with one or more optimisation criteria.

4. 发明公开

EP2969406A1 SYSTEMS AND METHODS FOR TRACKING A PATH USING THE NULL-SPACE 有权转让
标题翻译：体系和监管的路径通过空间NULL方法
公开(公告)号：EP2969406A1
公开(公告)日：2016-01-20
申请号：EP14723939.6
申请日：2014-03-18
申请人： Intuitive Surgical Operations, Inc.
发明人： SWARUP, Nitish , HOURTASH, Arjang , MOHR, Paul
IPC分类号： B25J9/16 , B25J18/00 , B25J19/06
CPC分类号： B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
摘要： Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

5. 发明授权

EP2523786B1 METHOD OF FINDING FEASIBLE JOINT TRAJECTORIES FOR AN N-DOF ROBOT WITH ROTATION INVARIANT PROCESS (N>5) 有权
标题翻译：一种用于找到实际关节运动路径用于N DOF机器人Rotationsinvariantenprozess方法（N> 5）
公开(公告)号：EP2523786B1
公开(公告)日：2014-10-01
申请号：EP11700035.6
申请日：2011-01-07
申请人： Syddansk Universitet
发明人： GORDON PETERSEN, Henrik , CORTSEN, Jens , SOELVASON, Dorthe
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1607 , G05B2219/39081 , G05B2219/40336 , G05B2219/40339 , G05B2219/40363

6. 发明公开

EP2345512A1 Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (N>5) 审中-公开
标题翻译： Verfahren zum Finden praktikabler Gelenkbahnenfüreinen N-DOF-Roboter mit Rotationsinvariantenprozess（N> 5）
公开(公告)号：EP2345512A1
公开(公告)日：2011-07-20
申请号：EP10150782.0
申请日：2010-01-14
申请人： Syddansk Universitet
发明人： Petersen, Henrik Gordon , Cortsen, Jens , Soelvason, Dorthe
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1607 , G05B2219/39081 , G05B2219/40336 , G05B2219/40339 , G05B2219/40363
摘要： There is provided a computer-implemented method for determining feasible joint trajectories for an n-dof (n>5) robot in a rotation invariant processing of an object, such as milling, painting, and welding. The method includes the steps of receiving geometric data representing the object; receiving geometric data representing the processing tool; receiving a tool path X(t), where t is time; searching for feasible paths q Robot (t) using IK (t) and q Tool (t) as set of possible solutions at time t, wherein q Robot (t) defines positions of all the joints in the robot as function of time, q Tool (t) defines the rotation of a tool flange around the tool axis at time t, and IK (t) defines the inverse kinematics solutions for a given X(t) and q Tool (t) ; and determining, from the geometric data and X(t), how the joint path q Robot (t) should be chosen so as to comply with one or more optimisation criteria.
摘要翻译：提供了一种用于在对象的旋转不变处理（例如铣削，喷涂和焊接）中确定n-dof（n> 5）机器人的可行关节轨迹的计算机实现的方法。该方法包括接收表示对象的几何数据的步骤; 接收表示处理工具的几何数据; 接收刀具路径X（t），其中t是时间; 搜索可行路径q机器人（t）使用IK（t）和q工具（t）作为在时间t的可能解的集合，其中q Robot（t）定义机器人中所有关节的位置作为时间的函数，q 刀具（t）在时间t定义刀具法兰围绕刀具轴线的旋转，而IK（t）定义给定X（t）和q刀具（t）的逆运动学解。并且从几何数据和X（t）确定如何选择联合路径q Robot（t）以符合一个或多个优化标准。

7. 发明公开

EP3328596A1 VERFAHREN ZUM STEUERN EINES MOBILEN REDUNDANTEN ROBOTERS 有权转让
公开(公告)号：EP3328596A1
公开(公告)日：2018-06-06
申请号：EP16744304.3
申请日：2016-07-14
申请人： KUKA Roboter GmbH
发明人： SCHARMA, Shashank , ZIMMERMANN, Uwe , APOSTOLIDIS, Spyridon
IPC分类号： B25J9/16 , B25J5/00
CPC分类号： B25J9/162 , B25J5/007 , B25J9/1643 , B25J9/1664 , B25J9/1674 , G05B2219/39091 , G05B2219/40298 , G05B2219/40339 , G05B2219/40513
摘要： A method for controlling a mobile robot with redundant degrees of freedom (ρ
1 , ρ
2 ), wherein the robot has a mobile base (10) and a multi-axis robot arm (20), and the mobile base (10) travels along a route and at the same time the robot arm (20) travels along a predefined path (B), wherein the robot detects an obstacle (40) which is located on the route, and the route of the mobile base (10) changes in such a way that a collision with the obstacle (40) is avoided. The robot arm (20) is controlled here in such a way that the predefined path (B) is travelled along further, i.e. the TCP still remains on the predefined path (B).

8. 发明授权

EP2998066B1 High voltage crash prevention device for machine tools 有权
标题翻译：用于机床的高压防撞装置
公开(公告)号：EP2998066B1
公开(公告)日：2017-06-14
申请号：EP14185502.3
申请日：2014-09-19
申请人： Mikron Agie Charmilles AG
发明人： Besuchet, Jean-Philippe , Reichenbächer, Jürgen , Schranz, David , Bovay, Gilbert , Giandomenico, Nicola
IPC分类号： B23Q17/22 , G05B19/4061
CPC分类号： B23Q17/2208 , G05B19/4061 , G05B2219/40339 , G05B2219/49141
摘要： Crash prevention device (1) for machine tools (2), preventing the collision of a moving part (3, 4, 10, 19) of the machine tool (2), preferably the a tool (3) or the machining head (19), with other machine tool parts (6, 7) or with a workpiece (5) allocated in the working area (8) of the machine tool (2) during a movement of the moving part (3, 4, 10, 19). According to the invention, a high voltage is applied between the electrical isolated moving part (3, 4, 10, 19) and other machine tool parts (6, 7) or with the workpiece (5) allocated in the working area (8). The inventive crash prevention device (1) includes an discharge detection means (15) which can detect electrical discharges (16) occurring between the monitored moving part (3, 4, 10, 19) and the workpiece (5) or other electrical conductive machine elements (6, 7) and signalize to the machine controller (17) of the machine tool (2) to stop or adapt the further movement of the moving part (3, 4, 10, 19). An imminent crash of the moving part (3, 4, 10, 19) with another part allocated in the working area (8) of the machine tool (2) is therewith prevented.
摘要翻译：机床（2）的防撞装置（1）防止机床（2）的运动部件（3,4,10,19），尤其是工具（3）或加工头部（19））与移动部件（3,4,10,19）的移动期间与机床（2）的工作区域（8）中分配的其他机床工具部件（6,7）或工件（5）。根据本发明，在电绝缘运动部件（3,4,10,19）和其他机床部件（6,7）或工作区域（8）中分配的工件（5）之间施加高电压，。本发明的碰撞预防装置（1）包括放电检测装置（15），该放电检测装置能够检测在被监控的移动部件（3,4,10,19）和工件（5）或其他导电机器元件（6,7）并且通知机床（2）的机器控制器（17）停止或调整移动部件（3,4,10,19）的进一步移动。因此防止了移动部件（3,4,10,19）与在机床（2）的工作区域（8）中分配的另一部件的即将发生的碰撞。

9. 发明公开

EP2998066A1 High voltage crash prevention device for machine tools 有权
标题翻译：为防止碰撞的机床高压设备
公开(公告)号：EP2998066A1
公开(公告)日：2016-03-23
申请号：EP14185502.3
申请日：2014-09-19
申请人： Mikron Agie Charmilles AG
发明人： Besuchet, Jean-Philippe , Reichenbächer, Jürgen , Schranz, David , Bovay, Gilbert , Giandomenico, Nicola
IPC分类号： B23Q17/22 , G05B19/4061
CPC分类号： B23Q17/2208 , G05B19/4061 , G05B2219/40339 , G05B2219/49141
摘要： Crash prevention device (1) for machine tools (2), preventing the collision of a moving part (3, 4, 10, 19) of the machine tool (2), preferably the a tool (3) or the machining head (19), with other machine tool parts (6, 7) or with a workpiece (5) allocated in the working area (8) of the machine tool (2) during a movement of the moving part (3, 4, 10, 19). According to the invention, a high voltage is applied between the electrical isolated moving part (3, 4, 10, 19) and other machine tool parts (6, 7) or with the workpiece (5) allocated in the working area (8). The inventive crash prevention device (1) includes an discharge detection means (15) which can detect electrical discharges (16) occurring between the monitored moving part (3, 4, 10, 19) and the workpiece (5) or other electrical conductive machine elements (6, 7) and signalize to the machine controller (17) of the machine tool (2) to stop or adapt the further movement of the moving part (3, 4, 10, 19). An imminent crash of the moving part (3, 4, 10, 19) with another part allocated in the working area (8) of the machine tool (2) is therewith prevented.

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